JPH07184433A - Automatic seedling feeder - Google Patents

Abstract

PURPOSE:To provide an automatic seedling feeder, capable of compacting at an apparatus and simplifying the structure and, simultaneously, enabling weight reduction and made elegant by elimination of excess wall thickness by devising the apparatus so as to feed preliminary seedlings to plural rows by a seedling feed means having each three dimensional robot structure. CONSTITUTION:This automatic seedling feeder is equipped with a seedling feed means Dg laterally arranging six rows of a housing section 16 for arranging and housing carriers 13 for housing preliminary seedlings in four stages and feeding the preliminary seedlings in the carrier 13 of the housing section 10 to the seedling carrier, and the seedling feed means Dg is constituted as a three-dimensional robot mechanism provided with a supporting mechanism A capable of supporting and releasing the carrier 13, a composite transfer mechanism B capable of longitudinally, laterally and vertically moving this supporting mechanism A and a taking-out mechanism C capable of taking out preliminary seedlings in a carrier 13 kept in a state supported by a supporting mechanism A from the carrier 13. The supporting mechanism A, the combination transfer mechanism B and the take-out mechanism C are engaged and operated so that carrier 13 is taken out from the housing section 10 and only preliminary seedlings are fed therefrom to the seedling carrier 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically supplying a spare seedling to a transplanting machine such as a rice transplanter for transplanting seedlings such as paddy rice into a field so that the efficiency of planting work can be expected to improve. .

[0002]

2. Description of the Related Art An apparatus of this type is disclosed in Japanese Patent Laid-Open No. 4-27.
The one disclosed in Japanese Patent No. 8006 is known, and the carrier at the lower end of the 6-row seedling storage section is supplied to the seedling placing table for each row, and one storage compartment has a plurality of stages of carriers. It is stored in layers.

[0003]

In the automatic seedling feeder of the above structure, empty carrier storages for stocking empty carriers are arranged on both sides of the storage compartment, respectively.
The width of the storage part tended to increase. That is, since the 6-row rice transplanter of the above publication has the same width as that for 8-row planting, it seems that there is room for improvement in terms of left-right balance and weight increase. The purpose of the present invention is to
The aim is to provide an automatic seedling supply device that is simpler and lighter in weight by minimizing the extra width and weight increase by reviewing the structure.

[0004]

In order to achieve the above object, the present invention provides a plurality of storage compartments in which carriers for accommodating preliminary seedlings for each row are arranged in a plurality of upper and lower stages and arranged side by side. At the same time, it is provided with a seedling supply means for supplying the preliminary seedlings in the carrier of the storage compartment to the seedling placing table, and the seedling supply means is a support mechanism capable of supporting and releasing the carrier, and the support mechanism can be moved back and forth, left and right and up and down. A three-dimensional robot structure including a complex moving mechanism and a take-out mechanism capable of taking out preliminary seedlings in the carrier supported by the supporting mechanism from the carrier, taking out the carrier in the storage compartment, and taking out the carrier. In order to supply only the preliminary seedlings in the carrier to the seedling mounting table, the automatic seedling supplying device is configured with the supply control means for operating the support mechanism, the composite moving mechanism and the picking mechanism in cooperation with each other. It is an butterfly.

[0005]

According to the above characteristic configuration, all of the series of operations for picking up one of the carriers in the storage compartment and supplying the preliminary seedlings therein to the seedling placing table is performed by one set of robot device, namely, seedling feeding. It is done by means. According to this means
Although the seedling supply means tends to have a relatively complicated structure, it is not necessary to provide seedling transfer means for extracting the carrier and supplying the preliminary seedlings to the seedling mounting table for each row as in the above-mentioned conventional technique, and the left and right It eliminates the need for an empty carrier stock unit, a horizontal carrier conveyor, and a crane device for carrier loading. Further, only the seedling supply means may be fed side by side in synchronization with the seedling mounting table, and the horizontal feeding of the entire storage compartment can be omitted.

In other words, the storage compartment has a function of simply storing the carriers side by side, and as a whole, it is possible to reduce the number of mechanical devices, to make the device compact and to simplify the structure.

[0007]

[Effects of the Invention] Therefore, by devising a plurality of rows of preliminary seedlings to be fed by means of a seedling feeding means having a three-dimensional robot structure, the apparatus can be made compact and the structure can be simplified, and the weight can be reduced, resulting in a lean meat. It has become possible to provide a more sophisticated automatic seedling supply device.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a rice transplanter in which spare seedlings are supplied from a seedling supply vehicle (not shown). In this rice transplanter, a plurality of (6 in this embodiment) seedling planting devices 2 for planting two rows of seedlings can be moved up and down via a link mechanism 8 at the rear of a four-wheel drive type traveling body 1 that is automatically or wirelessly controlled. An automatic seedling supply device D is mounted on the upper portion between the front wheel 3 and the rear wheel 4 while being connected. A prime mover E is arranged at the front of the machine body 1.

The seedling planting device 2 mounts 6 seedlings W grown in a mat shape on a seedling platform 5 which reciprocates laterally with a constant stroke, and a rotary type planting is carried out from the lower end of the seedling platform 5. A general structure is used in which the seedlings are cut out one by one by the mechanism 6 and planted in the field scene leveled by the leveling float 7. The automatic seedling supply device D has a function of stacking and storing the spare seedlings in four stages for each row and automatically supplying the spare seedlings W in row units as the seedlings on the seedling placing table 5 are consumed. To do.

As shown in FIGS. 8 and 9, the carrier 13 is formed in the shape of an open box, and one end side wall 13a in the longitudinal direction.
Is configured to be opened and closed by sliding downward, that is, the left and right side side walls 13b, 13b and the end side wall 1
The ends 3a are hook-fitted to each other, and the upper and lower stopper portions 13s, 1
Up and down slidable within a predetermined range by 3t. In the fully opened downward position, the opening / closing amount is set so that the upper surface of the end side wall 13a and the carrier bottom surface 13c are on the same plane, and the seedling W can be taken out without any support.

As shown in FIGS. 1 to 3, the automatic seedling supplying device D has storage compartments 10 in which the carriers 13 for accommodating preliminary seedlings are stacked in four stages and stored in parallel in six rows on each side. It comprises a seedling storage section Dk which is arranged and mounted on the underframe 9, and a seedling supply means Dg for supplying the preliminary seedling W in the carrier 13 of the storage section 10 to the seedling placing table 5. Seedling storage Dk
Is a storage frame 10 having a mounting surface 14 for mounting the carrier 13 in an inclined state in which it is lowered frontward in four stages.
The rear portion of the carrier 13 placed on the placing surface 14 is set to project rearward from the storage frame 12. The seedling supply means Dg includes a support mechanism A capable of supporting and releasing the carrier 13, a composite moving mechanism B capable of moving the support mechanism A back and forth, left and right, and up and down, and inside the carrier 13 supported by the support mechanism A. And a take-out mechanism C capable of taking out the preliminary seedling W from the carrier 13 are configured as a three-dimensional robot structure. Next, each part will be described in detail.

As shown in FIGS. 2 and 3, at the rear portion of the storage frame 12, a first movable base body 16 which can be moved back and forth by the left and right rails 15, 15 and a guide for the first movable body 16. The second moving body 17 that can be moved left and right by the bar 35
And the pair of guide bars 1 with respect to the second moving body 17.
A composite moving mechanism B is configured by providing a third moving body 18 that can move up and down by 1 and 11. That is, first to
The third moving bodies 16, 17, 18 are electric or hydraulic motors m ₁ , m ₂ , m ₃ and a screw shaft 15 rotatably driven by them.
By providing a, 35a, and 11a, it is possible to drive and move, and as a result, the third moving body 18 moves forward and backward, right and left, and up and down.
It can be moved and operated in any dimension.

As shown in FIGS. 4 to 8, the third moving body 18 is provided.
A frame member 19 is rotatably supported by the drive mechanism 30 around the fulcrum X in the left-right direction. That is, a supporting portion 18a protruding from the third moving body 18,
Support shafts 19a, 19a protruding left and right from a frame member 19 having a symmetrical shape are supported relative to each other at a fulcrum X, and the side sidewalls 13b, 13b of the carrier 13 are held from the left and right in a substantially U-shaped section. The left and right gripping tools 20, 20 each having a gripping portion 20 a and the left and right ends of the frame member 19 are connected by a quadruple link mechanism 21. The quadruple link mechanism 21 is formed by connecting the grip 20 and the frame member 19 with the first connecting link 22 and the lever link 23, and the lever links 23 and 23 arranged to face each other are the same part, and the tips thereof. The notches 23a and 23a are vertically overlapped with each other, and the first pin portion 24a of the joint 24 described later is formed.
It has been fitted into.

An opening / closing member 28, which can be fitted in the central portion of the carrier end side wall 13a, is supported so as to be vertically slidable, and the bracket 1 at the lower left and right of the frame member 19 is supported.
The tip of the open / close lever 25 rotatably supported by 9b and the open / close member 28 are connected by the second connecting link 26, and the notch of the base end of the open / close lever 25 and the second pin portions on the left and right sides of the joint 24 described above. It is fitted with 24b. A piston rod 27 a of an actuating actuator 27, such as an electric or hydraulic cylinder mounted on the frame member 19, is connected to the joint 24.

Next, the operation of supplying the preliminary seedling W will be described. First, the frame member 19 is driven and tilted so that the angle of the gripping portion 20a matches the angle of the carrier 13 placed in the storage compartment 10, and then the compound moving mechanism B is operated to move the gripping portion 20a at the bottom end, for example. Leftmost carrier 13
Fit in the rear part (state of FIG. 1 or FIG. 4). Next, the actuating actuator 27 is extended and driven to move the lever link 23.
While holding the carrier 13 by the left and right gripping portions 20a, 20a (see FIG. 5), the open / close lever 25 rotates counterclockwise in FIG. 6 to pull the end side wall 13a downward. Open position (see Figure 7).

Then, the composite moving mechanism B is actuated to move the frame member 19 obliquely rearward and upward to move the carrier 13
Is extracted rearward from the storage compartment 10, and the frame member 19 is tilted along the inclination of the seedling placing table 5 by the tilting movement of the third moving body 18 and the operation of the compound moving mechanism B, and the carrier is attached to the upper end of the seedling placing table 5. 13 Move to the position where the rear ends face each other. Then, the sliding plate 2 attached to the frame member 19
The preliminary seedling W in the carrier 13 is supplied to the seedling placing table 5 by the sliding movement via 9 (state of FIG. 2).

When the preliminary seedling W is supplied, the composite moving mechanism B
And the tilting movement of the third moving body 18 are performed, the emptied carrier 13 is returned to the original position in the storage compartment 10, and then the next supply operation is started. Here, the actuating actuator 27, the link lever 23, the holding portion 20a and the like constitute a support mechanism A, and the actuating actuator 27, the opening / closing lever 25, the opening / closing member 28 and the like constitute a take-out mechanism C.

For reference, FIG. 10 shows the supply control means F. That is, a total of 24 seedling detection sensors 34 that operate by contact with the preliminary seedlings W in the carrier 13 that is placed on an inclination are arranged in the storage section 10, and the large number of seedling detection sensors 34 and the seedlings on the top and bottom of the seedling placement table 5 are arranged. Remaining amount sensor 32, 33, third
The drive mechanism 30 such as an electric cylinder for inclining the moving body 18 and the frame member 19 relative to each other, and the mechanisms A, B, C constituting the seedling supply means Dg are connected to the control device 31 to form the supply control means F. ing.

[Other Embodiments] For example, a plastic carrier 13 is equipped with an iron part, and a third moving body 18 is equipped with an electromagnet, and a support mechanism A for supporting and releasing the carrier by magnetic force is used. It is also possible to construct a take-out mechanism C capable of picking up the preliminary seedling W by raising the bottom plate 13. Further, the compound moving mechanism B may be configured by a robot arm structure having two joints, and these mechanisms A, B and C can be variously modified.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a side view showing a seedling supply means.

FIG. 3 is a plan view showing a schematic structure of a composite moving mechanism.

FIG. 4 is a plan view showing the structures of a support mechanism and a take-out mechanism.

FIG. 5 is a plan view showing a support mechanism and a take-out mechanism in a state of holding a carrier.

6 is a side view of the portion shown in FIG.

FIG. 7 is a side view of the portion shown in FIG.

FIG. 8 is a perspective view showing the structure of the rear part of the carrier.

FIG. 9 is a perspective view showing a rear portion of the carrier in an opened state.

FIG. 10 is a control block diagram of seedling supply control means.

[Explanation of symbols]

 5 Planting device 10 Storage section 13 Carrier A Support mechanism B Complex movement mechanism C Extraction mechanism F Supply control means Dg Seedling supply means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaaki Nishinaka 64 Ishizukita-machi, Sakai City, Osaka Prefecture Agricultural growth management system research institute (72) Inventor Hiroshi Suzuki 64, Ishizukita-machi, Sakai City, Osaka Kubo Co., Ltd. Inside the Sakai Plant (72) Inventor Kazuo Uchikoshi 64 Ishizukita-cho, Sakai City, Osaka Prefecture Kubota Corporation Inside the Sakai Plant (72) Fumio Togashi, 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Plant Co., Ltd. (72 ) Inventor Kazuhiko Nishida 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (1)

[Claims] 1. A carrier (1) for accommodating spare seedlings for each row.
Storage compartment (10) for arranging and storing 3) in upper and lower stages
And a seedling supplying means (Dg) for supplying a plurality of spares in parallel to each other on the left and right and supplying the preliminary seedlings in the carrier (13) of the storage compartment (10) to the seedling placing table (5). ) Is a supporting mechanism (A) capable of supporting and releasing the carrier (13), a composite moving mechanism (B) capable of moving the supporting mechanism (A) back and forth, left and right, and up and down, and the supporting mechanism (A). The preliminary seedlings in the carrier (13) supported by the storage unit (10) are configured in a three-dimensional robot structure including a take-out mechanism (C) capable of taking out the carrier (13) from the carrier (13). (13) The support mechanism (A), the composite moving mechanism (B), and the removal so that only the preliminary seedlings in the removed carrier (13) are supplied to the seedling placing table (5) while taking out (13). Operates in cooperation with mechanism (C) Seedling automatic feeder that is provided with a pressure control means (F).